Mooring system for a vessel

ABSTRACT

A mooring system for a vessel includes an attachment unit configured to be detachably attached to a hull of the vessel; a robot arm including a plurality of arms, the arms being coupled to each other to turn in a vertical direction, the robot, arm extending by an arm actuator provided thereto to transfer the attachment unit to an attachment position of the hull; a rotation unit connected to the robot arm and allowing the robot arm to turn in a horizontal direction; and a mooring winch for winding a mooring cable to draw the attachment unit. A floating body or a quay wall may include the mooring system.

FIELD OF THE INVENTION

The present invention relates to a mooring system for a vessel.

BACKGROUND OF THE INVENTION

Recently, in order to improve the efficiency of marine transportationusing containers, large vessels have been used in order to improve thecost effectiveness by increasing the cargo amount. In this connection,there is demand for the development of a new system which is capable ofloading and unloading cargo on the sea remote from the land, withoutberthing such large vessels at a quay wall of a harbor which is providedon the land. Thus, research into a mobile harbor allowing a large shipto anchor in the sea away from the land and to handle cargos, ratherthan making a large ship to come alongside the pier in the harbor, hasbeen under way.

FIGS. 1A and 1B are schematic diagrams illustrating the mobile harbor inaccordance with the related research. The mobile harbor 100 which is afloating body may perform a loading and unloading operation by using acrane 20. FIG. 1A illustrates a loading and unloading operation betweenthe mobile harbor 10 and a large container carrier 30, and FIG. 1Fillustrates a loading and unloading operation between the mobile harbor10 and a quay wall 40.

When a mobile harbor is used to load and unload cargos while a largecontainer carrier is anchored in the sea remote from the land,containers loaded and/or to be loaded on the large container carrierneed to be distributed to several small, mobile harbors and transportedbetween the large container carrier and a harbor provided on the land.In this case, the number of berthing operations of the mobile harborsinevitably increases.

In general, a vessel includes a windlass for winding an anchor cable ora mooring winch for winding a mooring rope, in order to moor the vesselin a harbor, and the harbor includes a mooring facility for fixing themooring rope of the vessel. The conventional vessel or harbor isoperated by a manual system depending on human power. Such a manualsystem has a problem in safety accidents and operation efficiency.

Therefore, there is a need for the development of a new system forquickly and stably mooring or docking a vessel such as a mobile harboror container carrier.

SUMMARY OF THE INVENTION

The present invention provides a mooring system for a vessel capable ofminimizing the time and effort required for a mooring operation onvessels, and maintaining a stable mooring state such that cargos can besmoothly loaded and unloaded.

In accordance with an aspect of the present invention, there is provideda mooring system for a vessel, including: an attachment unit configuredto be detachably attached to a hull of the vessel; a robot arm includinga plurality of arms, the arms being coupled to each other to turn in avertical direction, the robot arm extending by an arm actuator providedthereto to transfer the attachment unit to an attachment position thehull; a rotation unit connected to the robot arm and allowing the robotarm to turn in a horizontal direction; and a mooring winch for winding amooring cable to draw the attachment unit.

In accordance with another aspect of the present invention, there isprovided a floating body including the mooring system.

In accordance with still another aspect of the present invention, thereis provided a quay wall including the mooring system

BRIEF DESCRIPTION OF THE DRAWINGS

The objects and features of the present invention will become apparentfrom the following description of embodiments given in conjunction withthe accompanying drawings, in which:

FIG. 1A is a schematic diagram illustrating a loading and unloadingoperation of a mobile harbor on the sea;

FIG. 1B is a schematic diagram illustrating a loading and unloadingoperation of the mobile harbor on the land;

FIG. 2A is a schematic view of a mooring system for a vessel inaccordance with an embodiment of the present invention, while themooring system is mooring a vessel;

FIG. 2B is a schematic view of the mooring system for a vessel inaccordance with the embodiment of the present invention, while afloating body including the mooring system sails;

FIG. 3A is a conceptual diagram illustrating a multi-stage hydrauliccylinder and hydraulic circuits in accordance with the embodiment of thepresent invention;

FIG. 3B is a cross-sectional view of the multi-stage hydraulic cylinderin accordance with the embodiment of the present invention;

FIG. 4 is a schematic view of an attachment unit in accordance with theembodiment of the present invention;

FIG. 5 is a schematic view of a rotation unit in accordance with theembodiment of the present invention;

FIG. 6A is a front view conceptual diagrams illustrating a state inwhich a mobile harbor having the mooring system mounted thereon isberthing at a container carrier;

FIG. 6B is a plan view of the conceptual diagrams of FIG. 6A; and

FIG. 7 is a conceptual diagram illustrating a state in which a mobileharbor is berthing at a quay wail in which the mooring system inaccordance with the embodiment of the present invention is disposed.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Hereinafter, embodiments of the present invention will be described indetail with reference to the accompanying drawings. Same referencenumeral is given to the same or corresponding element, and a duplicatedexplanation thereon will be omitted.

FIGS. 2A and 2B are schematic views of a mooring system for a vessel inaccordance with an embodiment of the present invention. FIG. 2A is aside view of the mooring system while the mooring system is mooring avessel, and FIG. 2B is a perspective view of the mooring system while afloating body (or a floating structure) including the mooring systemsails.

The mooring system 200 includes an attachment unit 210, a robot arm 220,a rotation unit 230, a mooring winch 240, and a robot arm winch 250.

The robot arm 220 includes a plurality of arms which are coupled withhinges to turn in a vertical direction. The robot arm 220 may beextended through extension of an arm actuator to transfer the attachmentunit 210 to an attachment position of a hull.

Specifically, the robot arm 220 may include a first arm 223 having anend coupled to the rotation unit 230 provided on an installation surfaceand a second arm 224 having an end coupled to the other end of the firstarm 223 with a hinge 225. The first arm 223 is coupled to the rotationunit. 230 with a hinge 226 to turn in the vertical direction.

The arm actuator may have a hydraulic cylinder 300. The cylinder 300 isconnected between the first and second arms 223 and 224 and extends totransfer the attachment unit 210. The hydraulic cylinder 300 and thesecond arm 224 are connected through a spring 224 c to absorb an impactapplied to the second arm 224.

The robot arm 220 has a protrusion portion 224 d which protrudes to bepositioned behind the connection member 212 of the attachment unit 210,and the connection member 212 is connected to the protrusion portion 224d through a spring 212 c to absorb an impact applied to the attachmentunit 210.

The robot arm 220 of the mooring system is not limited to the 2-arm linkstructure illustrated in FIGS. 2A and 2B, but may be constructed to havea variety of link structures. For example, the robot arm 220 may includeone or more additional arms, or may have a 4-arm link structure in whicha pair of 2-arm links is formed between the rotation unit 230 to theattachment unit 210.

FIG. 3A is a conceptual diagram illustrating a multi-stage hydrauliccylinder and hydraulic circuits in accordance with the embodiment of thepresent invention, and FIG. 3B is a cross-sectional view of themulti-stage hydraulic cylinder.

The hydraulic cylinder 300 in accordance with the embodiment of thepresent invention may include a multi-stage hydraulic cylinder whichindependently controls the stroke of two or more piston to performextension and contraction for positioning of the attachment unit 210 andabsorption of an impact applied to the attachment unit 210. One pistonrod may freely move to provide room for the vessel which rolls orpitches on the sea, and absorb an impact applied by a vessel, in a statethat the hydraulic cylinder 300 is in neutral. On the other hand,another piston rod may stop in a state that the multi-stage hydrauliccylinder 300 is in neutral.

The multi-stage hydraulic cylinder 300 includes a cylinder housing 310having a space formed therein and an opened upper surface and the firstand the second-stage piston rod 320 and 330. The first-stage piston rod320 is inserted into an upper surface (right side in FIG. 3A) of thecylinder housing 310, divides an internal space of the cylinder housing310 to form a first and a second chamber 321 and 322 to thereby have,and has a space formed therein and an opened upper surface. Thesecond-stage piston rod 330 is inserted into the upper surface of thefirst-stage piston rod 320 and divides an internal space of thefirst-stage piston rod 320 to form a third and a fourth chamber 331 and

The first to fourth chambers 321, 322, 331, and 332 may include first tofourth openings 321 a, 322 a, 331 a, and 332 a, respectively, which aresealed and with which a fluid communicates to apply an oil pressure. Thefirst-stage and second-stage piston rods 320 and 330 have respectivehollow holes 323 and 333 formed therein, and a fluid may communicatewith the third and fourth chambers 331 and 332 through flow paths formedin the respective hollow holes. The cylinder housing 310 has an openedlower surface (left side in FIG. 3A), and a fluid may communicate withthe third and fourth openings 331 a and 332 a through the lower surfaceof the cylinder housing 310.

An oil pressure applied to the pair of the first and second chambers 321and 322 and an oil pressure applied to the pair of the third and fourthchambers 331 and 332 may be controlled by a first-stage hydrauliccircuit 340 and a second-stage hydraulic circuit 350, respectively,which are independently provided. When an oil pressure is applied to thefirst or the second chamber 321 or 322, the first-stage piston rod 320is moved vertically (in the horizontal direction in FIG. 3A), and thelength of the hydraulic cylinder 300 is extended or contracted. When anoil pressure is applied to the third or the fourth chamber 331 or 332,the second-stage piston rod 330 is moved vertically, and the length ofthe hydraulic cylinder 300 is extended or contracted. The first-stagehydraulic circuit 340 and the second-stage hydraulic circuit 350 mayinclude check valves 341, 342, 351, and 352 through which a fluidcommunicates with the first to fourth openings 321 a, 322 a, 331 a, and332 a, respectively, to apply an oil pressure.

Chambers in any one pair of the pair of the first and second chambers321 and 322 and the pair of the third and fourth chambers 331 and 332may communicate with each other when the hydraulic cylinder 300 is inneutral state. On the other hand, the other pair of chambers may bedisconnected from an external hydraulic circuit when the hydrauliccylinder 300 is in neutral state. In this embodiment, the pair of thefirst and second chambers 321 and 322 may communicate with each othersuch that the first-stage piston rod 320 freely moves in case of neutralstate. The pair of the third and fourth chambers 331 and 332 may bedisconnected from an external hydraulic circuit to stop the second-stagepiston rod 330 in case of neutral state.

The first--stage hydraulic circuit. 340 can make the first-stage pistonrod 320 freely move. For this operation, the first-stage hydrauliccircuit 340 may include an ABT-connected four-direction control, valve344. The second-stage hydraulic circuit 350 can stop the second-stagepiston rod 330. For this operation, the second-stage hydraulic circuit350 may include a closed-center four-direction control valve 354.

In this embodiment, the two-stage cylinder has been described, but maybe extended to three stages or more. In the multi-stage cylinder inaccordance with the embodiment of the present invention, two or morepiston rods may be independently controlled to perform the extension ofthe cylinder length and the impact absorption at the same time.Therefore, the multi-stage cylinder 300 may have two or more functionsthrough a simple construction.

FIG. 4 is a schematic view of the attachment unit 210 in accordance withthe embodiment of the present invention.

The attachment unit 210 is detachably attached to a hull of a vessel tobe berthed, such as a container carrier. The attachment unit 210 mayinclude a plurality of suction pads 211 for generating an attachmentforce by which the attachment unit. 210 is attached to the hull. Each ofthe suction pads 211 may be attached to the hull by vacuum suppliedthrough a vacuum supply line from a vacuum supply unit (notillustrated). For this operation, the suction pad 211 may include aplurality of vacuum holes to which vacuum is supplied. Alternatively,the suction pad 211 may include an electromagnet which is attached tothe hull by a magnetic force caused by power supply.

The attachment unit 210 may include a connection member 212 forconnecting the suction pad 211 to an end of the robot arm 220. The robotarm 220 and the connection member 212 may be coupled by a ball joint 212a so as to rotate about each other.

The suction pads 211 may be coupled to auxiliary connection members 213by hinges 213 b, respectively. In this case, the suction pads 211 may bearranged in line or in a two-dimensional manner with respect to theconnection member 212. Each of the auxiliary connection members 213 hasan end coupled to the connection member 212 by the ball joint 213 a. Thesuction pads 211 may be moved with a multi degree of freedom by the balljoints 212 a and 213 a and the hinges 213 b. Therefore, the suction pads211 may change the posture in correspondence to various shapes of hulls.Alternatively, the ball joints and hinges 212 a, 213 a and 213 b may besubstituted with joints of different type.

FIG. 5 is a schematic view of the rotation unit 230 in accordance withthe embodiment of the present invention.

The rotation unit 230 is connected to the robot arm 220 to rotate therobot arm 220 in a horizontal direction (e. g., in a left and rightdirection) within a predetermined angle range based on the axisperpendicular to the installation surface. When the floating body havingthe mooring system 200 installed therein moves in the longitudinal,direction thereof, a rotational force is applied.

The rotation unit 230 includes a rotation member 234, a rotationadjustment part 232, a fixed shaft 231, and a restoration part 233. Therotation member 234 is connected to the robot arm 220 to rotate in thehorizontal direction together with the robot arm 220. The rotationadjustment part 232 allows the rotation member 234 to rotate from aninitial position, when a predetermined load or a load more than that isapplied. The fixed shaft 231 includes stopper for limiting the rotationmember 234 within a predetermined angle range, for example, 15 degreesand is fixed to the installation surface. The restoration part 233restores the rotated rotation member 234 to the initial position.

The rotation adjustment part 232 includes a case 232 a coupled to hefixed to the rotation member 234, and the case 232 a is rotated togetherwith the rotation member 234. The rotation of the case 232 a is limitedby the stopper 231 a. A ball 232 c is provided inside the case 232 a,and has portion inserted into a hole 231 c formed in the fixed shaft231. When a rotational force of a predetermined load or more is applied,the ball 232 c may be moved out of the hall 231 c. A spring 232 bapplies a compressive force to the ball 232 c such that the compressiveforce is directed toward the hole 231 c. When a load less than thepredetermined load is applied, the spring 232 b stops the ball 232 c.

The restoration part 233 includes a spring 233 d having both endscoupled to the rotation adjustment part 232 and the fixed shaft 231,respectively. When the rotation member 234 is rotated, the spring 233 dis lengthened to restore the rotation member 234.

Referring to FIGS. 2A and 2B, the mooring winch 240 winds the mooringcable 245 to draw the hull attached to the attachment unit 210 towardthe installation surface. The mooring winch 240 serves to suppress thevessel from moving away from the mooring system 200 when the attachmentunit 210 is attached to the hull. Although not illustrated, the mooringwinch 240 includes a variety of sensors and actuators which control amooring force to be automatically and constantly maintained. The mooringoperation may be stably and automatically performed in correspondence toa drift, winds, waves, tides, and the like.

When the attachment unit 210 is attached to the hull, the driving powerof the robot arm 220 may be turned off. Then, the mooring winch 240 maycover all or most of the load generated by the mooring of the vesselsuch that the load, is not applied to the robot arm 220. The mooringwinch 240 may free the robot arm 220 from the load. The hydrauliccylinder 300 may be freely extended and contracted when the mooringwinch serves to suppress the vessel. Therefore the physical fatigue ofthe robot arm 220 may be prevented, and the structure may be simplified.

The mooring cable 245 has an end connected to the attachment unit 210 todraw the attachment unit 210. For example, the mooring cable 245 may bedirectly connected so the connection member 212 or connected through aseparate member. Alternatively, the mooring cable 245 may be connectedto an end of the robot arm 220.

The robot arm winch 250 may wind the robot arm cable 255 to draw therobot arm 220. Similar to the mooring winch 240, the robot arm winch 250may cover a load generated when the attachment unit 210 is attached tothe hull, thereby preventing the physical fatigue of the structure.

Meanwhile, although not illustrated, the mooring system 200 inaccordance with the embodiment of the present invention may include avariety of actuators for driving the winch, the hinges, the ball joints,and the cylinder.

In the mooring system 200, a position and posture of the attachment unit210 may be adjusted in correspondence to a size or a shape of a vesselto be berthed, thereby making it possible to berth the vesselefficiently. Furthermore, the docking impact is absorbed by themulti-stage cylinder 300 and the elasticity of the springs 224 c and 212c, and the distance between vessels is constantly maintained to stablyberth or anchor the vessels. Furthermore, the mooring system 200 mayminimize the use of human power such that the mooring operationautomatically performed, thereby reducing the danger of safety accidentand increasing the efficiency.

FIGS. 6A and 6B are conceptual diagrams illustrating a state in which amobile harbor having the mooring system mounted thereon is berthing at acontainer carrier. FIG. 6A is a front view, and FIG. 6B is a plan view.

A plurality of the mooring systems 200 may be disposed on a side surfaceof a floating body such as a mobile harbor. The mobile harbor 100 mayinclude a vessel which may move by using its own power or a floatingbody moored on the sea. The mobile harbor 100 may transfer containersbetween the container carrier 150 and a harbor on the land, andtemporarily load containers in place of the harbor on the land, whilefloating on the sea.

The mobile harbor 100 may include a platform having a space in which acontainer is loaded, a loading device (e. g. a crane) for handling acontainer, a location determining device for acquiring informationregarding the location of the platform, and a balancing device foradjusting the platform such that the platform can be maintained in avertical location correspondingly to a change in she weight based on theloading and unloading of the container.

The mobile harbor 100 in accordance with the embodiment of the presentinvention may further include a fender 110 installed between the mobileharbor 100 and the hull of a vessel, such as the container carrier 150.Therefore, when the mooring cable 245 is wound, the fender 110 preventsthe hull from colliding with the mobile harbor 100, and simultaneouslypushes the hull to maintain the tension of the mooring cable 245.Therefore, even when the sea condition is not stable, for example, evenwhen the waves are high, the mooring operation for the vessel, can beperformed stably.

The fender 110 may be installed on the mobile harbor 100, the hull ofthe container carrier 150, or another structure. The fender 110 may havea variety of installation structures. For example, the fender 110 may beinstalled to float on the surface of the sea or fixed to be positionedat a predetermined level. The fender 110 may be formed of a structurecapable of enduring a strong external force and frictional force, whileabsorbing an impact.

FIG. 7 is a conceptual diagram illustrating a state in which a mobileharbor is berthing at a quay wall in which the mooring system inaccordance with the embodiment of the present invention is disposed.

The mooring system 200 may be disposed at a quay wall 140 or a quay onthe land and used when a vessel is berthed or moored at the quay wall onthe land. The mooring system 200 may moor the mobile harbor 100 at aproper position while moving along a rail 145 formed on the quay wall140. In addition, another vessel such as a container carrier or afloating body may be moored at the quay wall 140 where the mooringsystem in accordance with the embodiment of the present invention isinstalled.

Hereinafter, referring to FIG. 6A and 6B, a mooring method in a case inwhich the mooring system in accordance with the embodiment of thepresent invention is installed in a mobile harbor will be described.

The mooring method may include a step of transferring the attachmentunit 210 to the hull by using the robot arm 220, a step of attaching theattachment unit 210 to the hull, a step of putting the hydrauliccylinder 300 of the robot arm 220 into neutral, and a step of windingthe mooring cable 245.

At the step of transferring the attachment 210 to the hull by using therobot arm 200, the mobile harbor 100 is approximated to the containercarrier 150 to be berthed, and an optimal attachment position isselected. The attachment unit 210 may be transferred to the position, bythe movement of the robot arm 220 and the posture change of theattachment unit 210. At this time, the movement of the robot arm 220 maybe performed by the extension of the hydraulic cylinder 300 and thesuction pads 211 are rotated by the ball joints 212 a and 213 a andhinges 213 b.

At the step of attaching the attachment unit 210 to the hull, theattachment unit 210 may be attached to the hull by the supply of vacuumor a magnetic force.

At the step of winding the mooring cable 215, the mooring cable 245 iswound by the mooring winch 240 to draw the attachment unit 210, in orderto cover a load caused by docking or mooring the vessel. At this time,the hydraulic cylinder 300 of the robot arm 220 is put into neutral. Andfurther the power (or actuators) of the hinges 213 b or the ball joints212 a and 213 a may be turned off, in order to free the robot arm 220from the load.

Before the mooring cable 245 is wound, the fender 110 may be installedbetween the mobile harbor 100 having the robot arm 220 installed thereonand the hull of the container carrier 150.

In accordance with the embodiment of the present invention, the mooringsystem may minimize the time and effort required for a mooringoperation, and may maintain a stable mooring state therebetween suchthat cargo is smoothly loaded and unloaded.

The mobile harbor in accordance with the embodiment of the presentinvention performs a loading and unloading operation for a largecontainer carrier on the sea. Therefore, the cargo transportation of alarge container carrier, which needs to be performed in deep water, mayhe efficiently processed, whereby it will contribute to strengtheningthe harbor system competitiveness.

While the invention has been shown and described with respect to thepreferred embodiments, it will he understood by those skilled in the artthat various changes and modifications may be made without departingfrom the scope of the invention as defined in the following claims.

1. A mooring system for a vessel, comprising: an attachment unitconfigured to be detachably attached to a hull of the vessel; a robotarm including a plurality of arms, the arms being coupled to each otherto turn in a vertical direction, the robot arm extending by an armactuator provided thereto to transfer the attachment unit to anattachment position of the hull; a rotation unit connected to the robotarm and allowing the robot arm to turn in a horizontal direction; and amooring winch for winding a mooring cable to draw the attachment unit.2. The mooring system of claim 1, wherein the robot arm includes a firstarm coupled to the rotation unit and a second arm coupled to the firstarm and the attachment unit; and the arm actuator has a hydrauliccylinder connected to the first arm and the second arm and serving toabsorb an impact applied to the second arm.
 3. The mooring system ofclaim 2, wherein the hydraulic cylinder is connected to the second armthrough a spring to absorb the impact applied to the second arm.
 4. Themooring system of claim 2, wherein the second arm has a protrusionportion disposed behind the attachment unit; and the attachment unit isconnected to the protrusion portion through a spring to absorb an impactapplied to the attachment unit.
 5. The mooring system of claim 1,wherein the attachment unit includes a plurality of suction pads forgenerating an suction force by which the attachment unit is attached tothe hull.
 6. The mooring system of claim 5, wherein the attachment unitincludes a connection member for connecting the suction pads to therobot arm; and the robot arm and the connection member are coupled toeach other by a ball joint.
 7. The mooring system of claim 6, whereinthe suction pads are arranged in a two-dimensional manner; and each ofthe suction pads is coupled to she connection member through a bailjoint.
 8. The mooring system of claim 1, wherein the rotation unitincludes: a rotation member connected to the robot arm to rotate in thehorizontal direction together with the robot arm, and a rotation thereofbeing limited within an angle range; a rotation adjustment allowing therotation member to rotate from an initial position when a predeterminedload or greater is applied thereto; and a restoration part for restoringthe rotation member rotated by the rotation member to the initialposition.
 9. The mooring system of claim 8, wherein the rotationadjustment part has a case which is rotated together with the rotationmember; a ball provided in the and having a portion inserted into afixed hole, the ball being moved out of the hole when the predeterminedload or greater is applied; and a spring provided in the case andapplying a compressive force to the ball toward the hole.
 10. Themooring system of claim 1, wherein the mooring winch serves to suppressthe vessel from moving away from the mooring system when the attachmentunit is attached so the hull.
 11. The mooring system of claim. 10,wherein the arm actuator has a hydraulic cylinder configured to freelyextend and contract when the mooring winch serves to suppress thevessel.
 12. The mooring system of claim 1, further comprising a robotarm winch for winding a robot arm cable to draw the robot arm.
 13. Themooring system of claim 1, wherein the robot arm includes a first armcoupled to the rotation unit and a second arm coupled to the first armand the attachment unit; the arm actuator has a hydraulic cylinderconnected to the first arm and the second arm and serving to absorb animpact applied to the second arm, the attachment unit includes aplurality of suction pads for generating an suction force by which theattachment unit is attached to the hull; the mooring winch serves tosuppress the vessel from moving away from the mooring system when theattachment unit is attached to the hull.
 14. A floating body comprisingthe mooring system of claim
 1. 15. The floating body of claim 14,further comprising a fender provided between a side surface thereof andthe hull.
 16. A quay wall comprising the mooring system of claim
 1. 17.The quay wall of claim 16, further comprising a rail allowing themooring system to move thereon.